• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.280-288
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• 1997

In this paper, we will show that the torque ripple in closed-loop drives of permanent magnet stepping motors is reduced as properly selected lead angle control method. We propose an instantaneous torque equation, which is the function of lead angle, to estimate the influence on torque ripple. We design a closed-loop lead angle control system based on the proposed instantaneous torque equation and measure the instantaneous torque in various excitation modes. It is shown that torque ripple is greatly reduced, as seen from the experimental results as well as from the computer simulation results. For example, torque ripple reduced from 78.25% to 46.82% in the case of 50 PPS single-phase excitation mode operation.

• 로봇학회논문지
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• 제5권2호
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• pp.160-168
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• 2010

In order to achieve a force controller with high performance, an accurate torque servo is required. However, the precise torque servo for a double vane rotary actuator system has not been developed till now, due to many nonlinear characteristics and system parameter variations. In this paper, the torque servo structure for the double vane rotary actuator system is proposed based on the torque model. Nonlinear equations are set up using dynamics of the double vane rotary hydraulic actuator system. Then, to derive the torque model, the nonlinear equations are linearized using a taylor series expansion. Both effectiveness and performance of the design of torque servo are verified by torque servo experiments and applying the suggested torque model to an impedance controller.

• 한국자동차공학회논문집
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• 제6권6호
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• pp.174-184
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• 1998

The situation frequently occurs in which the input torque capacity of the torque converter should be changed. It is known that the modification of the outlet blade angles of the torque converter elements is suitable for such situation with the outer diameter of flow path of the converter maintained. But so far it has been difficult to predict correctly the converter characteristics as well as the effect of outlet angles on torque capacity in the past numerical methods. In the present numerical method introducing the interrow mixing planes, the torque capacity was satisfactorily estimated and it was shown that the torque capacity could be effectively changed by modifying the outlet blade angles of pump and stator.

• 전기학회논문지
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• 제62권2호
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• pp.171-176
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• 2013

Classically, reluctance torque of IPMSM(Interior Permanent Magnet Synchronous Motor) by using inductance according to current phase angle generates an error. This error is affected by total torque. From current phase angle $0^{\circ}$ to large errors will occur, because reluctance torque include current phase angle. But, reluctance torque from steady-state voltage equation of IPMSM is represented by linkage flux. So, reluctance torque is unrelated to the current phase angle formula can be derived. In this paper, operating torque was analyzed by d, q-axis linkage flux of IPMSM and reluctance torque to perform calculations reduced the error of the total torque calculation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.31-34
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• 2003

There are several types of switching table for selection voltage vector in direct torque control of induction motor. In general, two-quadrant and four-quadrant operation switching table are used mostly. Two-quadrant operation has an advantage that reduced the torque ripples in comparison with four-quadrant operation, but it has the defect that is not constant average torque. Because the torque increasing slope size by non-zero voltage vector is different from the torque decreasing slope size by zero voltage vector as speed region. The main objective of this study is to maintain constant average torque using two-quadrant operation switching table. In proposed method, the torque increasing slope or decreasing slope are calculated before selected voltage vector is applied. Then, it is applied to zero voltage vector or non-zero voltage vector until the torque increasing slope and decreasing slope are equal. In total magnitude. Therefore it becomes to maintain average torque at whole operation speed. The validity of the proposed method is proven by simulated and experimental results.

• Journal of Power Electronics
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• 제14권2호
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• pp.351-361
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• 2014

The discrete torque generation mechanism and inherently nonlinear magnetic characterization of switched reluctance motors lead to unacceptable torque ripples and limit the application of these motors. In this study, a phase current profiling technique and torque sharing function are proposed in consideration of magnetic saturation effects and by minimizing power loss in the commutation area between the adjacent phases. Constant torque trajectories are considered in incoming and outgoing phase current planes based on nonlinear T-i-theta curves obtained from experimental measurements. Optimum points on constant torque trajectories are selected by improving drive efficiency and minimizing copper loss in each rotor position. A novel analytic invertible function is introduced to express phase torque based on rotor position and its corresponding phase current. The optimization problem is solved by the proposed torque function, and optimum torque sharing functions are derived. A modification method is also introduced to enhance the torque ripple-free region based on simple logic rules. Compared with conventional torque sharing functions, the resultant reference current from the proposed method has less peak and effective values and exhibits lower copper loss. Experimental and simulation results from a four-phase 4 KW 8/6 SRM validate the effectiveness of the proposed method.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.524-529
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• 2016

We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot.

• 조명전기설비학회논문지
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• 제28권11호
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• pp.112-122
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• 2014

This paper proposes a PMSM torque control method considering DC-link voltage variation and friction torque. In general EV/HEV application, two dimensions look-up table(2D-LUT) is used for reference current generation due to its stable and robust torque control performance. Conventionally, this 2D-LUT is established by flux-torque table to overcome the DC-link voltage variation. However, the flux table establishment is more complex than the speed table establishment. Moreover, one flux data reflects several speed conditions in variable DC-link voltage, friction torque cannot be considered by using the flux table. In this paper, speed-torque 2D-LUT is used for current reference generation. With this table, PMSM torque control is well achieved regardless of DC-link voltage variation by the proposed control method. Simulation and experimental results validate improvement of torque control error through friction torque compensation.

• 전력전자학회논문지
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• 제11권6호
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• pp.551-557
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• 2006

교류 전동기는 전류의 측정오차와 데드타임(dead time) 등의 영향으로 전기각주파수에 동기된 주기적인 토크리플이 발생한다. 본 논문에서는 주기적인 토크리플 보상알고리즘을 제안한다. 보상기는 토크리플에 의해 생성된 속도리플의 크기을 관측하는 속도리플 관측기와 관측한 양으로 토크리플을 보상하는 토크리플 보상기로 나누어진다. 본 논문에서는 토크리플 보상기의 해석을 통해 정상상태에서 속도리플이 제거되고 새롭게 제안된 속도리플 관측기을 적용하여 성능이 향상됨을 보였다. 제안한 주기적인 토크리플 보상알고리즘에 의해 토크리플 성분이 보상됨을 모의 실험과 실험을 통해 검증하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 A
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• pp.59-61
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• 1995

This paper presents the cogging torque analysis of the permanent magnet type AC servo motor which have the closed slot structure. Generally, existence of the slot opening causes the cogging torque. But the cogging torque exists in this type motor(having closed slot structure) because the bridge part is saturated by the rotor flux. In this paper, the finite element analysis is used to calculate the cogging torque and the rated torque. As the size of the bridge part-the thickness and the width-changes, the cogging torque and the rated torque are obtained repeatedly like as upper procedures. Finally, the trends of the cogging torque and the rated torque versus the size of the bridge part are obtained from this analysis procedures. By this approach, the optimal geometry of the bridge part can be found which minimize the cogging torque satisfying the required value of the rated torque.